Mitsubishi Electric MELSEC iQ-R Series User Manual page 50

■Speed handling
• Continuous path control command speeds are set with each positioning data. The Motion module carries out the
positioning at the speed designated with each positioning data.
• The command speed can be set to "-1" in continuous path control. The control will be carried out at the speed used in the
previous positioning data No. if the command speed is set to "-1". The "current speed" will be displayed in the command
speed when the positioning data is set with an engineering tool. The current speed is the speed of the positioning control
being executed currently.
• The speed does not need to be set in each positioning data when carrying out uniform speed control if "-1" is set
beforehand in the command speed.
• If the speed is changed or the override function is executed, in the previous positioning data when "-1" is set in the
command speed, the operation can be continued at the new speed.
• The error "No command speed" (error code: 1B12H to 1B14H) occurs and positioning cannot be started if "-1" is set in the
command speed of the first positioning data at start.
[Relation between the command speed and current speed]
Speed
3000
2000
1000
[Da.8] Command speed
[Md.27] Current speed
■Speed switching (Standard speed switching mode: Switch the speed when executing the next
positioning data.) (Page 428 [Pr.19] Speed switching mode)
• If the respective command speeds differ in the "positioning data currently being executed" and the "positioning data to carry
out the next operation", the machine will accelerate or decelerate after reaching the positioning point set in the "positioning
data currently being executed" and the speed will change over to the speed set in the "positioning data to carry out the next
operation".
• The parameters used in acceleration/deceleration to the command speed set in the "positioning data to carry out the next
operation" are those of the positioning data to carry out acceleration/deceleration. Speed switching will not be carried out if
the command speeds are the same.
3 MAJOR POSITIONING CONTROL
48
3.1 Outline of Major Positioning Controls
Downloaded from ManualsNet.com
P1 P2 P3 P4 P5
1000 3000 -1 -1 -1
1000 3000 3000 3000 3000
• In the continuous path control, a speed variation will not occur using the near-pass function when the
positioning data No. is switched. (Page 233 Near pass function)
• The Motion module holds the command speed set with the positioning data, and the latest value of the
speed set with the speed change request as "[Md.27] Current speed". It controls the operation at the
"current speed" when "-1" is set in the command speed. (Depending on the relation between the movement
amount and the speed, the feedrate may not reach the command speed value, but even then the current
speed will be updated.)
• When the address for speed change is identified beforehand, generate and execute the positioning data for
speed change by the continuous path control to carry out the speed change without requesting the speed
change with a program.
search engine
Speed P1 P2
3000
2000
1000
[Da.8] Command speed 1000 3000
[Md.27] Current speed 1000 3000
P3 P4 P5
-1 -1 -1
3000 3000 3000
The current speed is changed
even if the command speed
is not reached in P2.